/**
  ******************************************************************************
  * @file           : bsp_mpu6050.h
  * @author         : Ylint
  * @brief          : None
  * @attention      : None
  * @date           : 2024/4/6
  ******************************************************************************
  */

#ifndef RCT6_BALANCE_CAR_BSP_MPU6050_H
#define RCT6_BALANCE_CAR_BSP_MPU6050_H

#include "main.h"


extern float Pitch, Roll, Yaw;
extern short Gyro[3];
extern short Accel[3];



//#define DEFAULT_MPU_HZ  (200)
#define DEFAULT_MPU_HZ  (100)
#define Q30  1073741824.0f



int MPU6050_DMP_Init(void);
int MPU6050_DMP_Get_Data(float *pitch, float *roll, float *yaw);

#endif //RCT6_BALANCE_CAR_BSP_MPU6050_H
